Keyboard box for moving stagesight and/or stage

laserstudio/laserstudio.py

@@ -13,6 +13,7 @@
 from typing import Optional
 from .util import resource_path
 from .widgets.viewer import Viewer
+from .widgets.keyboardbox import KeyboardBox
 from .instruments.instruments import Instruments
 
 
@@ -211,6 +212,17 @@ def __init__(self, config: Optional[dict]):
         w.setChecked(True)
         toolbar.addWidget(w)
 
+        # Stage positioning toolbar
+        if self.viewer.stage_sight is not None:
+            toolbar = QToolBar(self)
+            toolbar.setAllowedAreas(
+                Qt.ToolBarArea.LeftToolBarArea | Qt.ToolBarArea.RightToolBarArea
+            )
+            toolbar.setFloatable(True)
+            w = KeyboardBox(self.viewer.stage_sight)
+            toolbar.addWidget(w)
+            self.addToolBar(Qt.ToolBarArea.RightToolBarArea, toolbar)
+
     def handle_go_next(self):
         """Go Next operation.
         Triggers the instruments to perform changes to go to next step of scan.

laserstudio/widgets/keyboardbox.py

@@ -0,0 +1,153 @@
+from typing import Union, Optional
+from PyQt6.QtWidgets import QGroupBox, QVBoxLayout, QGridLayout, QPushButton, QWidget
+from PyQt6.QtCore import Qt
+from ..instruments.instruments import StageInstrument
+from ..widgets.stagesight import StageSight
+from enum import Enum
+
+
+class Direction(str, Enum):
+    up = "U"
+    right = "R"
+    down = "D"
+    left = "L"
+    zup = "Z+"
+    zdown = "Z-"
+
+
+class KeyboardBox(QGroupBox):
+    """
+    Creates a control Box, associated to a Stage or StageSight.
+    to permit to move the associated object by using
+    buttons or the keyboard (when focused).
+    Also contains Entries to configure the displacement steps
+    for each press of button or keys.
+    """
+
+    def __init__(self, stage: Union[StageSight, StageInstrument], *__args):
+        super().__init__(*__args)
+
+        if isinstance(stage, StageInstrument):
+            self.stage_sight = None
+            self.stage = stage.stage
+            num_axis = stage.stage.num_axis
+        else:
+            self.stage_sight = stage
+            self.stage = None
+            num_axis = 2
+
+        vbox = QVBoxLayout()
+        self.setLayout(vbox)
+
+        grid = QGridLayout()
+        if num_axis > 0:
+            w = QPushButton(Direction.left)
+            w.pressed.connect(lambda: self.move_stage(Direction.left))
+            grid.addWidget(w, 2, 1)
+            w = QPushButton(Direction.right)
+            w.pressed.connect(lambda: self.move_stage(Direction.right))
+            grid.addWidget(w, 2, 3)
+            grid.setColumnStretch(1, 1)
+            grid.setColumnStretch(3, 1)
+        if num_axis > 1:
+            w = QPushButton(Direction.up)
+            w.pressed.connect(lambda: self.move_stage(Direction.up))
+            grid.addWidget(w, 1, 2)
+            w = QPushButton(Direction.down)
+            w.pressed.connect(lambda: self.move_stage(Direction.down))
+            grid.addWidget(w, 2, 2)
+            grid.setColumnStretch(2, 1)
+        if num_axis > 2:
+            w = QPushButton(Direction.zup)
+            w.pressed.connect(lambda: self.move_stage(Direction.zup))
+            grid.addWidget(w, 1, 4)
+            w = QPushButton(Direction.zdown)
+            w.pressed.connect(lambda: self.move_stage(Direction.zdown))
+            grid.addWidget(w, 2, 4)
+            grid.setColumnStretch(4, 1)
+
+        w = QWidget()
+        w.setLayout(grid)
+        vbox.addWidget(w)
+
+        self.displacement_z = 1.0
+        self.displacement_xy = 1.0
+
+        self.setFocusPolicy(Qt.FocusPolicy.ClickFocus)
+
+    def move_stage(self, direction: Direction):
+        if direction in [Direction.left, Direction.right]:
+            axe = 0
+        elif direction in [Direction.up, Direction.down]:
+            axe = 1
+        elif direction in [Direction.zup, Direction.zdown]:
+            axe = 2
+        else:
+            print("Unexpected direction")
+            return
+
+        displacement = self.displacement_z if axe == 2 else self.displacement_xy
+        if direction in [Direction.up, Direction.right, Direction.zup]:
+            displacement *= 1
+        elif direction in [Direction.down, Direction.left, Direction.zdown]:
+            displacement *= -1
+
+        if self.stage is not None:
+            position = self.stage.position
+            position[axe] += displacement
+            self.stage.move_to(position)
+        elif self.stage_sight is not None:
+            position = self.stage_sight.pos()
+            if axe == 0:
+                position.setX(position.x() + displacement)
+            elif axe == 1:
+                position.setY(position.y() + displacement)
+            self.stage_sight.move_to(position)
+
+    def _set_background_color(self, color: Optional[str] = None):
+        """
+        Convenience function to change the background color of the Box.
+
+        :param color: The color to apply as background color.
+        """
+        self.setStyleSheet(
+            "KeyboardBox { border-radius: 2px;"
+            + (f"  background-color: {color};" if color else "")
+            + "}"
+        )
+
+    def focusInEvent(self, event) -> None:
+        """
+        Changes the background to gray to show the box has focused.
+        """
+        super().focusInEvent(event)
+        self._set_background_color(color="gray")
+
+    def focusOutEvent(self, event) -> None:
+        """
+        Removes the background color to show the box has focused out.
+        """
+        super().focusOutEvent(event)
+        self._set_background_color()
+
+    def keyPressEvent(self, event):
+        """
+        Detects a key press event and redispatch to the correct
+        movement.
+        """
+        if event.key() == Qt.Key.Key_Up:
+            if Qt.KeyboardModifier.ControlModifier in event.modifiers():
+                self.move_stage(direction=Direction.zup)
+            else:
+                self.move_stage(direction=Direction.up)
+        elif event.key() == Qt.Key.Key_Down:
+            if Qt.KeyboardModifier.ControlModifier in event.modifiers():
+                self.move_stage(direction=Direction.zdown)
+            else:
+                self.move_stage(direction=Direction.down)
+        elif event.key() == Qt.Key.Key_Left:
+            self.move_stage(direction=Direction.left)
+        elif event.key() == Qt.Key.Key_Right:
+            self.move_stage(direction=Direction.right)
+        else:
+            super().keyPressEvent(event)